Refactor gzserver launch args, add --initial_sim_time #1456
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Add a helper function to replace the functionality of _arg_command with the condition argument. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
wjwwood
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Mar 3, 2023
gazebo_ros/launch/gzserver.launch.py
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| def _arg_command(arg, join_with=" "): | ||
| cmd = ['"--', arg, '" if "" != "', LaunchConfiguration(arg), '" else ""'] | ||
| py_cmd = PythonExpression(cmd) | ||
| return (py_cmd, join_with, LaunchConfiguration(arg)) |
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It might be harmless but in the case that the launch configuration is an empty string you'll still be adding the join with. I think anyway.
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And actually if the join with is = that would be a problem no?
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I knew I was forgetting something 🤦
This refactors the _arg_command helper function to remove the condition parameter (which is now unused since the _conditional_command helper was added) and always passes the LaunchConfiguration along with the --command with a "join_with" separator. This simplifies the `cmd` array definition. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Expose gzserver CLI parameter added in gazebosim/gazebo-classic#3294. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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This was referenced Aug 9, 2023
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This refactors some of the argument handling in
gzserver.launch.pyand adds support for the--initial_sim_timeparameter, which was recently added in gazebosim/gazebo-classic#3294. It is straightforward to review the changes by commit:_arg_commandhelper with aconditionto a separate_conditional_commandhelper function and update theparams_filesupport to use_conditional_command.conditionargument from_arg_commandand add ajoin_withargument instead that defaults to a space' '. Also, since all the remaining uses of_arg_commandalso pass the correspondingLaunchConfiguration()right afterward, change the return value of_arg_commandto a list joining the--commandstring with theLaunchConfiguration()value. This simplifies the specification of thecmdvariable in the launch description.--initial_sim_timeargument, usingjoin_with='='so that it will be passed as--initial_sim_time=[time]. This is a valid alternative to--initial_sim_time [time]but allows old versions of gazebo to parse it all as a single argument and ignore it as unrecognized. Otherwise the--initial_sim_timemay be ignored, but the[time]argument may linger and cause unintended parsing issues.